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<div class="title">grsd.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2014, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_GRSD_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_FEATURES_GRSD_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/features/rsd.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree_flann.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_r_s_d_estimation.html">   74</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_g_r_s_d_estimation.html">GRSDEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::setSearchSurface</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="comment">//using Feature&lt;PointInT, PointOutT&gt;::computeFeature;</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a>  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Feature&lt;PointInT, PointOutT&gt;::PointCloudInPtr  PointCloudInPtr;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_r_s_d_estimation.html#af05308f77034a7d826f2e7c92f2c3bf6">   92</a></span>&#160;      <a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#af05308f77034a7d826f2e7c92f2c3bf6">GRSDEstimation</a> () : <a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#ad2f840723c6d78f4fd63948b022ec9ac">additive_</a> (true)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;GRSDEstimation&quot;</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#a44a9afc0d8c7295687afe2b1b3f9eedf">relative_coordinates_all_</a> = getAllNeighborCellIndices ();</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      };</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_r_s_d_estimation.html#a85d7b3857ce58acd150fbede437e239c">  103</a></span>&#160;      <a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#a85d7b3857ce58acd150fbede437e239c">setRadiusSearch</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#ae20deb9d7744fba0fd92a64c927278b0">width_</a> = <a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a> = radius; }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_r_s_d_estimation.html#ac88b33586a61c5f3ed2e32642137e5eb">  109</a></span>&#160;      <a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#ac88b33586a61c5f3ed2e32642137e5eb">getRadiusSearch</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a>); }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#a5fca8d8d7c522f6c07be602a04f58868">getSimpleType</a> (<span class="keywordtype">float</span> min_radius, <span class="keywordtype">float</span> max_radius,</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                     <span class="keywordtype">double</span> min_radius_plane = 0.100,</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                     <span class="keywordtype">double</span> max_radius_noise = 0.015,</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                     <span class="keywordtype">double</span> min_radius_cylinder = 0.175,</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                     <span class="keywordtype">double</span> max_min_radius_diff = 0.050);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#a577f548f45292b726d4830f8d592c5f6">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_r_s_d_estimation.html#ad2f840723c6d78f4fd63948b022ec9ac">  135</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#ad2f840723c6d78f4fd63948b022ec9ac">additive_</a>;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_r_s_d_estimation.html#ae20deb9d7744fba0fd92a64c927278b0">  138</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#ae20deb9d7744fba0fd92a64c927278b0">width_</a>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1_g_r_s_d_estimation.html#a44a9afc0d8c7295687afe2b1b3f9eedf">  141</a></span>&#160;      Eigen::MatrixXi <a class="code" href="classpcl_1_1_g_r_s_d_estimation.html#a44a9afc0d8c7295687afe2b1b3f9eedf">relative_coordinates_all_</a>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  };</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/grsd.hpp&gt;</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_FEATURES_GRSD_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a2c52e9b0412b8ce790837b24cd99f0af"><div class="ttname"><a href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">pcl::Feature::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> feature.h:239</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_g_r_s_d_estimation_html"><div class="ttname"><a href="classpcl_1_1_g_r_s_d_estimation.html">pcl::GRSDEstimation</a></div><div class="ttdoc">GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud da...</div><div class="ttdef"><b>Definition:</b> grsd.h:75</div></div>
<div class="ttc" id="aclasspcl_1_1_g_r_s_d_estimation_html_a44a9afc0d8c7295687afe2b1b3f9eedf"><div class="ttname"><a href="classpcl_1_1_g_r_s_d_estimation.html#a44a9afc0d8c7295687afe2b1b3f9eedf">pcl::GRSDEstimation::relative_coordinates_all_</a></div><div class="ttdeci">Eigen::MatrixXi relative_coordinates_all_</div><div class="ttdoc">Pre-computed the relative cell indices of all the 26 neighbors.</div><div class="ttdef"><b>Definition:</b> grsd.h:141</div></div>
<div class="ttc" id="aclasspcl_1_1_g_r_s_d_estimation_html_a577f548f45292b726d4830f8d592c5f6"><div class="ttname"><a href="classpcl_1_1_g_r_s_d_estimation.html#a577f548f45292b726d4830f8d592c5f6">pcl::GRSDEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by &lt;setInputClou...</div><div class="ttdef"><b>Definition:</b> grsd.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1_g_r_s_d_estimation_html_a5fca8d8d7c522f6c07be602a04f58868"><div class="ttname"><a href="classpcl_1_1_g_r_s_d_estimation.html#a5fca8d8d7c522f6c07be602a04f58868">pcl::GRSDEstimation::getSimpleType</a></div><div class="ttdeci">static int getSimpleType(float min_radius, float max_radius, double min_radius_plane=0.100, double max_radius_noise=0.015, double min_radius_cylinder=0.175, double max_min_radius_diff=0.050)</div><div class="ttdoc">Get the type of the local surface based on the min and max radius computed.</div><div class="ttdef"><b>Definition:</b> grsd.hpp:45</div></div>
<div class="ttc" id="aclasspcl_1_1_g_r_s_d_estimation_html_a85d7b3857ce58acd150fbede437e239c"><div class="ttname"><a href="classpcl_1_1_g_r_s_d_estimation.html#a85d7b3857ce58acd150fbede437e239c">pcl::GRSDEstimation::setRadiusSearch</a></div><div class="ttdeci">void setRadiusSearch(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...</div><div class="ttdef"><b>Definition:</b> grsd.h:103</div></div>
<div class="ttc" id="aclasspcl_1_1_g_r_s_d_estimation_html_ac88b33586a61c5f3ed2e32642137e5eb"><div class="ttname"><a href="classpcl_1_1_g_r_s_d_estimation.html#ac88b33586a61c5f3ed2e32642137e5eb">pcl::GRSDEstimation::getRadiusSearch</a></div><div class="ttdeci">double getRadiusSearch() const</div><div class="ttdoc">Get the sphere radius used for determining the neighbors.</div><div class="ttdef"><b>Definition:</b> grsd.h:109</div></div>
<div class="ttc" id="aclasspcl_1_1_g_r_s_d_estimation_html_ad2f840723c6d78f4fd63948b022ec9ac"><div class="ttname"><a href="classpcl_1_1_g_r_s_d_estimation.html#ad2f840723c6d78f4fd63948b022ec9ac">pcl::GRSDEstimation::additive_</a></div><div class="ttdeci">bool additive_</div><div class="ttdoc">Defines if an additive feature is computed or ray-casting is used to get a more descriptive feature.</div><div class="ttdef"><b>Definition:</b> grsd.h:135</div></div>
<div class="ttc" id="aclasspcl_1_1_g_r_s_d_estimation_html_ae20deb9d7744fba0fd92a64c927278b0"><div class="ttname"><a href="classpcl_1_1_g_r_s_d_estimation.html#ae20deb9d7744fba0fd92a64c927278b0">pcl::GRSDEstimation::width_</a></div><div class="ttdeci">double width_</div><div class="ttdoc">Defines the voxel size to be used.</div><div class="ttdef"><b>Definition:</b> grsd.h:138</div></div>
<div class="ttc" id="aclasspcl_1_1_g_r_s_d_estimation_html_af05308f77034a7d826f2e7c92f2c3bf6"><div class="ttname"><a href="classpcl_1_1_g_r_s_d_estimation.html#af05308f77034a7d826f2e7c92f2c3bf6">pcl::GRSDEstimation::GRSDEstimation</a></div><div class="ttdeci">GRSDEstimation()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> grsd.h:92</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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